Merge branch 'main' into development

.pre-commit-config.yaml

@@ -3,8 +3,8 @@
 # If things break on update, raise an issue
 repos:
 
-  - repo: https://github.com/pycqa/isort
-    rev: 5.10.1
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.12.0
     hooks:
       - id: isort
         name: isort imports carl
@@ -50,8 +50,8 @@ repos:
         name: mypy carl
         files: carl/.*
 
-  - repo: https://gitlab.com/pycqa/flake8
-    rev: 4.0.1
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.0.0
     hooks:
       - id: flake8
         name: flake8 carl

carl/context/augmentation.py

@@ -38,26 +38,3 @@ def add_gaussian_noise(
     value = default_value + random_generator.normal(loc=mean, scale=std)
 
     return value
-
-
-if __name__ == "__main__":
-    import matplotlib.pyplot as plt
-
-    seed = 123456
-    rng = np.random.default_rng(seed=seed)
-    default_value = list(np.arange(0, 4))
-    percentage_std = 0.01
-    n_samples = 1000
-    values = np.array(
-        [
-            add_gaussian_noise(
-                default_value=default_value,
-                percentage_std=percentage_std,
-                random_generator=rng,
-            )
-            for i in range(n_samples)
-        ]
-    )
-    plt.close("all")
-    plt.hist(values, bins=100)
-    plt.show()

carl/context/selection.py

@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 from abc import abstractmethod
 from typing import Any, Callable, List, Optional, Tuple
 
@@ -73,6 +75,25 @@ def select(self) -> Context:
         self.n_calls += 1
         return context
 
+    @property
+    def context_key(self) -> Any | None:
+        """
+        Return context key
+
+        If no context has been selected yet (context_id=None),
+        return None.
+
+        Returns
+        -------
+        Any | None
+            The key of the current context or None
+        """
+        if self.context_id:
+            key = self.contexts_keys[self.context_id]
+        else:
+            key = None
+        return key
+
 
 class RandomSelector(AbstractSelector):
     """

carl/envs/box2d/carl_vehicle_racing.py

@@ -127,7 +127,7 @@ def reset(
         else:
             return self.step(None)[0], {}  # type: ignore [arg-type]
 
-    def render_indicators(self, W: int, H: int) -> None:
+    def _render_indicators(self, W: int, H: int) -> None:
         # copied from meta car racing
         s = W / 40.0
         h = H / 40.0

carl/envs/box2d/parking_garage/street_car.py

@@ -1,4 +1,4 @@
-from typing import List
+from __future__ import annotations
 
 import Box2D
 import numpy as np
@@ -363,7 +363,7 @@ def __init__(
             self.drawlist = self.wheels + [self.hull, self.trailer, self.trailer_axel]
         else:
             self.drawlist = self.wheels + [self.hull]
-        self.particles = []  # type: List
+        self.particles: list = []
 
     def gas(self, gas: float) -> None:
         """control: rear wheel drive

carl/envs/brax/carl_halfcheetah.py

@@ -5,7 +5,7 @@
 
 import brax
 import numpy as np
-from brax.envs.halfcheetah import _SYSTEM_CONFIG, Halfcheetah
+from brax.envs.half_cheetah import _SYSTEM_CONFIG, Halfcheetah
 from brax.envs.wrappers import GymWrapper, VectorGymWrapper, VectorWrapper
 from google.protobuf import json_format, text_format
 from google.protobuf.json_format import MessageToDict

carl/envs/carl_env.py

@@ -1,3 +1,5 @@
+from __future__ import annotations
+
 from typing import Any, Dict, List, Mapping, Optional, Tuple, Type, Union
 
 import importlib
@@ -138,9 +140,9 @@ def __init__(
             )
         context_keys: Vector
         if state_context_features is not None:
-            if (
-                state_context_features == "changing_context_features"
-                or state_context_features[0] == "changing_context_features"
+            if state_context_features == "changing_context_features" or (
+                type(state_context_features) == list
+                and state_context_features[0] == "changing_context_features"
             ):
                 # if we have only one context the context features do not change during training
                 if len(self.contexts) > 1:
@@ -193,9 +195,12 @@ def __init__(
         # where it is allowed to add gaussian noise
 
         # Set initial context
-        self.context_index = 0  # type: int
+        # TODO only set context during reset?
+        # Don't use the context selector. This way after the first reset we actually
+        # start with the first context. We just need a default/initial context here
+        # so all the tests and the rest does not break.
         context_keys = list(self.contexts.keys())
-        self.context = self.contexts[context_keys[self.context_index]]
+        self.context = self.contexts[context_keys[0]]
 
         # Scale context features
         if scale_context_features not in self.available_scale_methods:
@@ -236,6 +241,10 @@ def context(self) -> Dict:
     def context(self, context: Context) -> None:
         self._context = self.fill_context_with_default(context=context)
 
+    @property
+    def context_key(self) -> Any | None:
+        return self.context_selector.context_key
+
     @property
     def contexts(self) -> Dict[Any, Dict[Any, Any]]:
         return self._contexts

carl/envs/dmc/__init__.py

@@ -1,5 +1,9 @@
 # flake8: noqa: F401
 # Contexts and bounds by name
+from carl.envs.dmc.carl_dm_finger import CONTEXT_BOUNDS as CARLDmcFingerEnv_bounds
+from carl.envs.dmc.carl_dm_finger import CONTEXT_MASK as CARLDmcFingerEnv_mask
+from carl.envs.dmc.carl_dm_finger import DEFAULT_CONTEXT as CARLDmcFingerEnv_defaults
+from carl.envs.dmc.carl_dm_finger import CARLDmcFingerEnv
 from carl.envs.dmc.carl_dm_fish import CONTEXT_BOUNDS as CARLDmcFishEnv_bounds
 from carl.envs.dmc.carl_dm_fish import CONTEXT_MASK as CARLDmcFishEnv_mask
 from carl.envs.dmc.carl_dm_fish import DEFAULT_CONTEXT as CARLDmcFishEnv_defaults

carl/envs/dmc/carl_dm_finger.py

@@ -0,0 +1,103 @@
+from typing import Dict, List, Optional, Union
+
+import numpy as np
+
+from carl.context.selection import AbstractSelector
+from carl.envs.dmc.carl_dmcontrol import CARLDmcEnv
+from carl.envs.dmc.dmc_tasks.fish import STEP_LIMIT  # type: ignore
+from carl.utils.trial_logger import TrialLogger
+from carl.utils.types import Context, Contexts
+
+DEFAULT_CONTEXT = {
+    "gravity": -9.81,  # Gravity is disabled via flag
+    "friction_tangential": 1,  # Scaling factor for tangential friction of all geoms (objects)
+    "friction_torsional": 1,  # Scaling factor for torsional friction of all geoms (objects)
+    "friction_rolling": 1,  # Scaling factor for rolling friction of all geoms (objects)
+    "timestep": 0.004,  # Seconds between updates
+    "joint_damping": 1.0,  # Scaling factor for all joints
+    "joint_stiffness": 0.0,
+    "actuator_strength": 1,  # Scaling factor for all actuators in the model
+    "density": 5000.0,
+    "viscosity": 0.0,
+    "geom_density": 1.0,  # No effect, because no gravity
+    "wind_x": 0.0,
+    "wind_y": 0.0,
+    "wind_z": 0.0,
+    "limb_length_0": 0.17,
+    "limb_length_1": 0.16,
+    "spinner_radius": 0.04,
+    "spinner_length": 0.18,
+}
+
+CONTEXT_BOUNDS = {
+    "gravity": (-np.inf, -0.1, float),
+    "friction_tangential": (0, np.inf, float),
+    "friction_torsional": (0, np.inf, float),
+    "friction_rolling": (0, np.inf, float),
+    "timestep": (
+        0.001,
+        0.1,
+        float,
+    ),
+    "joint_damping": (0, np.inf, float),
+    "joint_stiffness": (0, np.inf, float),
+    "actuator_strength": (0, np.inf, float),
+    "density": (0, np.inf, float),
+    "viscosity": (0, np.inf, float),
+    "geom_density": (0, np.inf, float),
+    "wind_x": (-np.inf, np.inf, float),
+    "wind_y": (-np.inf, np.inf, float),
+    "wind_z": (-np.inf, np.inf, float),
+    "limb_length_0": (0.01, 0.2, float),
+    "limb_length_1": (0.01, 0.2, float),
+    "spinner_radius": (0.01, 0.05, float),
+    "spinner_length": (0.01, 0.4, float),
+}
+
+CONTEXT_MASK = [
+    "gravity",
+    "geom_density",
+    "wind_x",
+    "wind_y",
+    "wind_z",
+]
+
+
+class CARLDmcFingerEnv(CARLDmcEnv):
+    def __init__(
+        self,
+        domain: str = "finger",
+        task: str = "spin_context",
+        contexts: Contexts = {},
+        context_mask: Optional[List[str]] = [],
+        hide_context: bool = True,
+        add_gaussian_noise_to_context: bool = False,
+        gaussian_noise_std_percentage: float = 0.01,
+        logger: Optional[TrialLogger] = None,
+        scale_context_features: str = "no",
+        default_context: Optional[Context] = DEFAULT_CONTEXT,
+        max_episode_length: int = STEP_LIMIT,
+        state_context_features: Optional[List[str]] = None,
+        dict_observation_space: bool = False,
+        context_selector: Optional[
+            Union[AbstractSelector, type[AbstractSelector]]
+        ] = None,
+        context_selector_kwargs: Optional[Dict] = None,
+    ):
+        super().__init__(
+            domain=domain,
+            task=task,
+            contexts=contexts,
+            context_mask=context_mask,
+            hide_context=hide_context,
+            add_gaussian_noise_to_context=add_gaussian_noise_to_context,
+            gaussian_noise_std_percentage=gaussian_noise_std_percentage,
+            logger=logger,
+            scale_context_features=scale_context_features,
+            default_context=default_context,
+            max_episode_length=max_episode_length,
+            state_context_features=state_context_features,
+            dict_observation_space=dict_observation_space,
+            context_selector=context_selector,
+            context_selector_kwargs=context_selector_kwargs,
+        )

carl/envs/dmc/carl_dm_fish.py

@@ -26,7 +26,7 @@
 }
 
 CONTEXT_BOUNDS = {
-    "gravity": (-0.1, -np.inf, float),
+    "gravity": (-np.inf, -0.1, float),
     "friction_tangential": (0, np.inf, float),
     "friction_torsional": (0, np.inf, float),
     "friction_rolling": (0, np.inf, float),

carl/envs/dmc/carl_dm_quadruped.py

@@ -26,7 +26,7 @@
 }
 
 CONTEXT_BOUNDS = {
-    "gravity": (-0.1, -np.inf, float),
+    "gravity": (-np.inf, -0.1, float),
     "friction_tangential": (0, np.inf, float),
     "friction_torsional": (0, np.inf, float),
     "friction_rolling": (0, np.inf, float),

carl/envs/dmc/carl_dm_walker.py

@@ -26,7 +26,7 @@
 }
 
 CONTEXT_BOUNDS = {
-    "gravity": (-0.1, -np.inf, float),
+    "gravity": (-np.inf, -0.1, float),
     "friction_tangential": (0, np.inf, float),
     "friction_torsional": (0, np.inf, float),
     "friction_rolling": (0, np.inf, float),